Time-varying formation control of a collaborative heterogeneous multi agent system

Rahimi, Reihane; Abdollahi, Farzaneh; Naqshi, Karo

doi:10.1016/j.robot.2014.07.005

Cited by 121 publications

(75 citation statements)

References 26 publications

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“…For example, the formation shape should be changed in the obstacle avoidance for multiple mobile robots. Several significant results about the time‐varying formation control were obtained in References . Cooperative time‐varying formation control methods was studied in References , where the formation was characterized by time‐varying external parameters.…”

Section: Introductionmentioning

confidence: 99%

“…Cooperative time‐varying formation control methods was studied in References , where the formation was characterized by time‐varying external parameters. A time‐varying formation of collaborative unmanned aerial vehicles and unmanned ground vehicles was achieved in Reference . Time‐varying formation tracking control was reached when considering the influence of switching topologies in Reference .…”

Section: Introductionmentioning

confidence: 99%

“…Time‐varying group formation control for multiagent systems with directed topologies was showed in Reference . However, further investigates on disturbance rejections of the time‐varying formation with the influence of external disturbances were not considered in References , and the disturbance rejection methods for time‐invariant formations in References cannot be implemented since the expected formation is time‐varying. To the best of our knowledge, robust time‐varying formation design problems for second‐order multiagent systems with unknown external disturbances have not been investigated extensively.…”

Section: Introductionmentioning

confidence: 99%

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Robust time‐varying formation design for multiagent systems with disturbances: Extended‐state‐observer method

Wang

et al. 2020

Intl J Robust & Nonlinear

103

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Robust time-varying formation design problems for second-order multiagent systems subjected to external disturbances are investigated. First, by constructing an extended state observer, the disturbance compensation is estimated, which is a critical term in the proposed robust time-varying formation control protocol. Then, an explicit expression of the formation center function is determined and impacts of disturbance compensations on the formation center function are presented. With the formation feasibility conditions, robust time-varying formation design criteria are derived to determine the gain matrix of the formation control protocol by utilizing the algebraic Riccati equation technique. Furthermore, the tracking performance and the robustness property of multiagent systems are analyzed. Finally, the numerical simulation is provided to illustrate the effectiveness of theoretical results. K E Y W O R D S algebraic Riccati equation, extended state observer, external disturbance, multiagent system, robust time-varying formation 2796

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Section: Introductionmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

See 1 more Smart Citation

Robust time‐varying formation design for multiagent systems with disturbances: Extended‐state‐observer method

Wang

et al. 2020

Intl J Robust & Nonlinear

103

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“…Then formation tracking problem arises in these scenarios. A solution to the TVF tracking problem for collaborative heterogeneous MAS was presented in [24], where a Lyapunovbased distributed controller was introduced based on virtual structure to make the whole system form a rigid formation among unmanned aerial vehicles and unmanned ground vehicles. However, the virtual leader needs to send its position and velocity information to all followers, which is a heavy communication cost that we should try to avoid.…”

Section: Introductionmentioning

confidence: 99%

“…• The output measurements, which are more applicable in real industry than the state ones [8,11] that are sometimes unavailable in reality, are utilized in this paper. Different from [12,24] where all the followers need to know the leader's information, in this paper, only a small portion of followers need the leader's information, which can reduce communication cost greatly especially in the case of large number of followers.…”

Section: Introductionmentioning

confidence: 99%

A Unified Framework of Fully Distributed Time-Varying Formation Control for Large-Scale Multi-Agent Systems: An Observer Viewpoint

Jiang

2019

2019 18th European Control Conference (ECC)

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This paper presents a unified framework of time-varying formation (TVF) design for general linear multi-agent systems (MAS) based on an observer viewpoint from undirected to directed topology, from stabilization to tracking and from a leader without input to a one with bounded input. The followers can form a TVF shape which is specified by piecewise continuously differential vectors. The leader's trajectory, which is available to only a subset of followers, is also time-varying. For the undirected formation tracking and directed formation stabilization cases, only the relative output measurements of neighbors are required to design control protocols; for the directed formation tracking case, the agents need to be introspective (i.e. agents have partial knowledge of their own states) and the output measurements are required. Furthermore, considering the real applications, the leader with bounded input case is studied. One main contribution of this paper is that fully distributed adaptive output protocols, which require no global information of communication topology and do not need the absolute or relative state information, are proposed to solve the TVF control problem. Numerical simulations including an application to nonholonomic mobile vehicles are provided to verify the theoretical results.

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Time‐varying formation control of linear multiagent systems with time delays and multiplicative noises

Jia

Zong

2021

Intl J Robust & Nonlinear

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This article investigates time‐varying formation control problems of linear multiagent systems with time delays and multiplicative noises under the undirected interactive topology. First, the time‐varying formation control problem under time delays and multiplicative noises is transformed into the asymptotic stability problem of a closed‐loop stochastic system. Then, sufficient conditions for formation feasibility under the unstable and stable formation centers are provided by constructing the Lyapunov functional and the Lyapunov function, respectively. For the case of an unstable formation center, we give the formation feasibility conditions and the explicit formation control design. For the case of a stable formation center, it is proved that the formation can be achieved for any given time delay and noise intensity. Finally, numerical simulations on a group of unmanned aerial vehicles are provided to illustrate the effectiveness of the theoretical results.

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Time-varying formation control of a collaborative heterogeneous multi agent system

Cited by 121 publications

References 26 publications

Robust time‐varying formation design for multiagent systems with disturbances: Extended‐state‐observer method

Robust time‐varying formation design for multiagent systems with disturbances: Extended‐state‐observer method

A Unified Framework of Fully Distributed Time-Varying Formation Control for Large-Scale Multi-Agent Systems: An Observer Viewpoint

Time‐varying formation control of linear multiagent systems with time delays and multiplicative noises

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